EP3770809A4 - Method and apparatus for estimating user's pose by using three-dimensional virtual space model - Google Patents

Method and apparatus for estimating user's pose by using three-dimensional virtual space model Download PDF

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Publication number
EP3770809A4
EP3770809A4 EP20757508.5A EP20757508A EP3770809A4 EP 3770809 A4 EP3770809 A4 EP 3770809A4 EP 20757508 A EP20757508 A EP 20757508A EP 3770809 A4 EP3770809 A4 EP 3770809A4
Authority
EP
European Patent Office
Prior art keywords
pose
virtual space
dimensional virtual
space model
estimating user
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20757508.5A
Other languages
German (de)
French (fr)
Other versions
EP3770809A1 (en
Inventor
Nak Ju Doh
Ga Hyeon Lim
Dong Woo Kim
Bum Chul JANG
Hyung A Choi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Korea University Research and Business Foundation
Original Assignee
Korea University Research and Business Foundation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020200039564A external-priority patent/KR102387797B1/en
Application filed by Korea University Research and Business Foundation filed Critical Korea University Research and Business Foundation
Publication of EP3770809A1 publication Critical patent/EP3770809A1/en
Publication of EP3770809A4 publication Critical patent/EP3770809A4/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/12—Acquisition of 3D measurements of objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Evolutionary Computation (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Databases & Information Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Processing Or Creating Images (AREA)
  • Image Analysis (AREA)
EP20757508.5A 2019-06-14 2020-04-07 Method and apparatus for estimating user's pose by using three-dimensional virtual space model Pending EP3770809A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
KR20190070829 2019-06-14
KR1020200039564A KR102387797B1 (en) 2019-06-14 2020-04-01 Method and Apparatus for localization in real space using 3D virtual space model
PCT/KR2020/004685 WO2020251151A1 (en) 2019-06-14 2020-04-07 Method and apparatus for estimating user's pose by using three-dimensional virtual space model

Publications (2)

Publication Number Publication Date
EP3770809A1 EP3770809A1 (en) 2021-01-27
EP3770809A4 true EP3770809A4 (en) 2022-03-09

Family

ID=73781019

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20757508.5A Pending EP3770809A4 (en) 2019-06-14 2020-04-07 Method and apparatus for estimating user's pose by using three-dimensional virtual space model

Country Status (3)

Country Link
US (1) US11915449B2 (en)
EP (1) EP3770809A4 (en)
WO (1) WO2020251151A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102339472B1 (en) * 2020-12-23 2021-12-16 고려대학교 산학협력단 Method and apparatus for reconstruction of 3d space model
KR20230120501A (en) * 2022-02-09 2023-08-17 상명대학교산학협력단 Method and apparatus for extracting human objects from video and estimating pose thereof

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170008505A (en) * 2015-07-14 2017-01-24 서울대학교산학협력단 Free space map construction method, free space map construction system, foreground/background extraction method using the free space map, and foreground/background extraction system using the free space map
KR20170012316A (en) * 2014-05-30 2017-02-02 옥스포드 유니버시티 이노베이션 리미티드 Vehicle localisation
KR101835434B1 (en) * 2015-07-08 2018-03-09 고려대학교 산학협력단 Method and Apparatus for generating a protection image, Method for mapping between image pixel and depth value

Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
JP6044084B2 (en) * 2012-03-08 2016-12-14 日産自動車株式会社 Moving object position and orientation estimation apparatus and method
JP5965293B2 (en) 2012-11-07 2016-08-03 日本電信電話株式会社 Camera pose estimation device and camera pose estimation program
KR102137264B1 (en) * 2013-07-09 2020-07-24 삼성전자주식회사 Apparatus and method for camera pose estimation
MA41117A (en) 2014-12-05 2017-10-10 Myfiziq Ltd IMAGING OF A BODY
JP6309913B2 (en) 2015-03-31 2018-04-11 セコム株式会社 Object detection device
EP3255585B1 (en) * 2016-06-08 2018-05-09 Axis AB Method and apparatus for updating a background model
JPWO2018235219A1 (en) 2017-06-22 2020-03-19 日本電気株式会社 Self-location estimation method, self-location estimation device, and self-location estimation program

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170012316A (en) * 2014-05-30 2017-02-02 옥스포드 유니버시티 이노베이션 리미티드 Vehicle localisation
KR101835434B1 (en) * 2015-07-08 2018-03-09 고려대학교 산학협력단 Method and Apparatus for generating a protection image, Method for mapping between image pixel and depth value
KR20170008505A (en) * 2015-07-14 2017-01-24 서울대학교산학협력단 Free space map construction method, free space map construction system, foreground/background extraction method using the free space map, and foreground/background extraction system using the free space map

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
"Field and Service Robotics", vol. 79, 1 January 2014, SPRINGER BERLIN HEIDELBERG, Berlin, Heidelberg, ISBN: 978-3-54-075404-6, ISSN: 1610-7438, article PETER HENRY ET AL: "RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments", pages: 477 - 491, XP055192425, DOI: 10.1007/978-3-642-28572-1_33 *
KYEL OK ET AL: "Simultaneous tracking and rendering: Real-time monocular localization for MAVs", IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 1 May 2016 (2016-05-01), arXiv:1509.06825 [cs.LG], pages 4522 - 4529, XP055536372, ISBN: 978-1-4673-8026-3, DOI: 10.1109/ICRA.2016.7487651 *
LEE TAE-JAE ET AL: "A Monocular Vision Sensor-Based Efficient SLAM Method for Indoor Service Robots", IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, IEEE SERVICE CENTER, PISCATAWAY, NJ, USA, vol. 66, no. 1, 1 January 2019 (2019-01-01), pages 318 - 328, XP011689537, ISSN: 0278-0046, [retrieved on 20180831], DOI: 10.1109/TIE.2018.2826471 *
RICHARD A. NEWCOMBE: "KinectFusion: Real-Time Dense Surface Mapping and Tracking", 1 January 2011 (2011-01-01), XP055507122, Retrieved from the Internet <URL:https://www.microsoft.com/en-us/research/wp-content/uploads/2016/02/ismar2011.pdf> [retrieved on 20180914] *
See also references of WO2020251151A1 *

Also Published As

Publication number Publication date
US11915449B2 (en) 2024-02-27
EP3770809A1 (en) 2021-01-27
WO2020251151A1 (en) 2020-12-17
US20230177723A1 (en) 2023-06-08

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